Method for ascertaining the coupling state of a trailer coupling, state ascertaining assembly, and vehicle

Abstract

A method for ascertaining a coupling state of a trailer coupling between a towing vehicle and a trailer, wherein a pivotal connection between a towing-vehicle coupling element on the towing vehicle and a trailer coupling element on the trailer is established in a locked state of the trailer coupling, the method including ascertaining coupling information, wherein, depending on a position of a locking mechanism of the trailer coupling and/or a jolt of the towing vehicle and/or trailer, the coupling information indicates whether the trailer coupling might be in the locked state. The method further includes ascertaining positioning information, wherein, depending on sensor signals of a wave-based sensor device, the positioning information indicates whether the trailer coupling might be in the locked state. The method further includes ascertaining a coupling outcome, depending on the coupling information and also depending on the positioning information.

1 . A method for ascertaining a coupling state of a trailer coupling between a towing vehicle and a trailer, wherein a pivotal connection between a towing-vehicle coupling element on the towing vehicle and a trailer coupling element on the trailer is established in a locked state of the trailer coupling, the method comprising:
 ascertaining coupling information, wherein, depending on a position of a locking mechanism of the trailer coupling and/or a jolt of the towing vehicle and/or a jolt of the trailer, the coupling information indicates whether the trailer coupling might be in the locked state;   ascertaining positioning information, wherein, depending on sensor signals of a wave-based sensor device, the positioning information indicates whether the trailer coupling might be in the locked state; and   ascertaining a coupling outcome, depending on the coupling information and also depending on the positioning information, wherein the coupling outcome indicates whether or not a pivotal connection between the towing vehicle and the trailer is established via the trailer coupling.   
     
     
         2 . The method according to  claim 1 , wherein the ascertainment of the positioning information comprises:
 detecting at least one object in a surrounding environment via the wave-based sensor device and outputting sensor signals, wherein the wave-based sensor device is arranged on the towing vehicle or on the trailer; and   ascertaining position information of the detected object, the position of the detected object including an actual position and/or an actual alignment of the detected object relative to the wave-based sensor device or relative to the towing vehicle or to the trailer on which the wave-based sensor device is arranged,   wherein the at least one detected object is the towing vehicle and/or the trailer or an object in the surrounding environment which is connected thereto and which is involved in establishing the pivotal connection.   
     
     
         3 . The method according to  claim 2 , wherein the ascertainment of the positioning information furthermore comprises:
 reading in a setpoint position associated with the detected object and/or a setpoint alignment associated with the detected object, wherein the setpoint position and/or the setpoint alignment indicate how, in the locked state of the trailer coupling, the respective associated object is arranged, positioned and/or aligned relative to the wave-based sensor device or relative to the towing vehicle or to the trailer on which the wave-based sensor device is arranged; and   ascertaining the positioning information depending on;
 whether the ascertained actual position for the respective detected object corresponds to or deviates from the setpoint position for the respective detected object, and/or 
 whether the ascertained actual alignment for the respective detected object corresponds to or deviates from the setpoint alignment for the respective detected object, wherein the positioning information preferably indicates that the trailer coupling might be in the locked state if the ascertained actual position corresponds to the setpoint position and/or the ascertained actual alignment corresponds to the setpoint alignment for the respective detected object. 
   
     
     
         4 . The method according to  claim 2 , wherein the ascertainment of the positioning information further comprises:
 ascertaining the positioning information depending on:
 whether and to what extent the ascertained actual position and/or the ascertained actual alignment and/or the ascertained position information of the detected object change if the towing vehicle moves, and/or 
   whether a relative movement between the towing vehicle and the trailer is concluded from the ascertained actual position and/or the ascertained actual alignment and/or the ascertained position information,   wherein the positioning information indicates that the trailer coupling might be in the locked state if the ascertained actual position and/or the ascertained actual alignment and/or the ascertained position information of the detected object do not change if the towing vehicle moves, and/or there is no relative movement between the towing vehicle and the trailer.   
     
     
         5 . The method according to  claim 2 , wherein, in the event that an object in the surrounding environment cannot be detected, or cannot be detected in its entirety, by the wave-based sensor device, the position information of the object is derived from the position information relating to a detected object in the surrounding environment which is connected thereto. 
     
     
         6 . The method according to  claim 2 , wherein an actual distance and/or an actual angle are ascertained from the actual position and/or the actual orientation and/or from the position information of a detected object, wherein the actual distance characterizes how far away the coupling element on the towing vehicle is from the coupling element on the trailer, and the actual angle characterizes how the coupling element on the towing vehicle is aligned with respect to the coupling element on the trailer. 
     
     
         7 . The method according to  claim 6 , wherein the positioning information indicates that the trailer coupling might be in the locked state if the actual distance has reached a setpoint distance. 
     
     
         8 . The method according to  claim 6 , wherein, in the event that the actual angle exceeds a limit angle, the positioning information indicates that the trailer coupling might not be in the locked state, wherein the limit angle is selected such that, if the limit angle is exceeded, it is no longer possible to couple the coupling element on the trailer to the coupling element on the towing vehicle. 
     
     
         9 . The method according to  claim 1 , wherein the coupling information indicates that the trailer coupling might be in the locked state if, from a movement of the locking mechanism of the trailer coupling and/or from a control signal of an electrical actuating mechanism for actuating the locking element, it follows that the locking mechanism is in a closed position. 
     
     
         10 . The method according to  claim 1 , wherein, to ascertain the coupling information, the jolt of the towing vehicle and/or the jolt of the trailer is ascertained via:
 a velocity sensor on the towing vehicle and/or on the trailer, and/or   an acceleration sensor on the towing vehicle and/or on the trailer.   
     
     
         11 . The method according to  claim 1 , wherein the coupling information indicates that the trailer coupling might be in the locked state if the jolt of the towing vehicle and the jolt of the trailer indicate that the coupling element on the trailer has made contact with the coupling element on the towing vehicle, in that the jolt of the towing vehicle and the jolt of the trailer reach or exceed a jolt limit value. 
     
     
         12 . The method according to  claim 1 , wherein the coupling information and the positioning information are ascertained in succession or in parallel with one another. 
     
     
         13 . The method according to  claim 1 , wherein the positioning information is only ascertained if the coupling information indicates that the trailer coupling might be in the locked state, or vice versa. 
     
     
         14 . The method according to  claim 1 , wherein the coupling outcome indicates that a pivotal connection between the towing vehicle and the trailer is established if both the coupling information and the positioning information indicate that the trailer coupling might be in the locked state. 
     
     
         15 . The method according to  claim 1 , wherein, if both the coupling information and the positioning information indicate that the trailer coupling might be in the locked state, it is additionally ascertained whether the jolt of the towing vehicle and/or the jolt of the trailer vehicle reach or exceed a specified jolt threshold value, in particular within a time offset after the towing vehicle has started to move, and the coupling outcome indicates that a pivotal connection between the towing vehicle and the trailer is established if the specified jolt threshold value has been reached. 
     
     
         16 . A state-ascertaining arrangement for ascertaining a coupling state of a trailer coupling between a towing vehicle and a trailer, in particular according to the method according to  claim 1 , the state-ascertaining arrangement comprising:
 a position sensor for ascertaining a position of a locking mechanism of the trailer coupling, and/or   an acceleration sensor on the towing vehicle and/or the trailer for ascertaining a jolt of the towing vehicle and/or a jolt of the trailer, and/or   a velocity sensor on the towing vehicle and/or on the trailer for ascertaining a jolt of the towing vehicle and/or a jolt of the trailer;   a wave-based sensor device for detecting objects in a surrounding environment and for outputting sensor signals; and   a state-ascertaining unit, wherein the state-ascertaining unit is configured to:
 ascertain coupling information, wherein, depending on the position of the locking mechanism of the trailer coupling and/or the jolt of the towing vehicle and/or the jolt of the trailer vehicle, the coupling information indicates whether the trailer coupling might be in the locked state, 
 ascertain positioning information, wherein, depending on sensor signals of the wave-based sensor device, the positioning information indicates whether the trailer coupling might be in the locked state, and 
 ascertain a coupling outcome depending on the coupling information and the positioning information, wherein the coupling outcome indicates whether or not a pivotal connection between the towing vehicle and the trailer is established via the trailer coupling. 
   
     
     
         17 . The state-ascertaining arrangement according to  claim 16 , wherein the wave-based sensor device has a camera and/or a LiDAR sensor and/or a radar sensor and/or an ultrasonic sensor. 
     
     
         18 . A vehicle, in particular utility vehicle, comprising:
 a towing vehicle;   a trailer,   wherein a pivotal connection between a towing-vehicle coupling element on the towing vehicle and a trailer coupling element on the trailer is established via a trailer coupling if a locking mechanism of the trailer coupling is brought into a closed position; and   the state-ascertaining arrangement according to  claim 16  for ascertaining a coupling state of the trailer coupling.   
     
     
         19 . The vehicle according to  claim 18 , wherein the trailer coupling is:
 configured as a pin coupling, in which, to establish a pivotal connection, an eye on a drawbar as a coupling element on the trailer is configured to be held in a clevis as a coupling element on the towing vehicle via a coupling pin as a locking mechanism, or   configured as a fifth wheel coupling, in which, to establish a pivotal connection, a kingpin as a coupling element on the trailer is configured to be held on a fifth wheel plate as a coupling element on the towing vehicle via a coupling dog as a locking mechanism.